Rockwell Automation 2098-DSD-xxx Ultra3000 Digital Servo Drives with DeviceNet User Manual
Page 80
Publication 2098-RM004A-EN-P – August 2002
2-64
Programming Reference
68
Set
Tune Position
Period
UINT
2
mSec
The period of the drive's commanded position step
(square wave) during manual position tuning.
Range: 1 to 32767
Default: 500
69
Set
Tune Velocity
Step
UDINT
4
Cnts /
Sec
The amplitude of the drive's commanded velocity
step (square wave) during manual velocity tuning.
Range: 1 to 0x7fffffff
Default: 10000
70
Set
Tune Velocity
Period
UINT
2
mSec
The period of the drive's command velocity step
(square wave) during manual velocity tuning.
Range: 1 to 32767
Default: 500
71
Set
Motor Encoder
Interpolation
USINT
1
The amount of interpolation to be used with
sine/cosine encoders. For example, if the
interpolation is set to x256, the drive interpolates
256 counts for every 1/4 line of the input sinusoid.
0 - x4
1 - x8
2 - x16
3 - x32
4 - x64
5 - x128
6 - x256 (default)
7 - x512
8 - x1024
Note: Set is not allowed if the drive is enabled.
72
Set
Position
Feedback Source
USINT
1
The source for position loop feedback.
0 - Motor Encoder (default)
1 - Auxiliary Encoder
Note: This parameter instance is not available to
non-indexing drives. If invoked, a non-indexing drive
returns Reserved as the parameter name.
73
Set
Encoder Output
Signal
USINT
1
Specifies the type of encoder output from the drive.
0 - Buffered (default) - The encoder input is passed
through the drive directly, without interpolation or
division.
1 - Divided - The encoder input is divided and then
output.
2 - Interpolated - The interpolated encoder counts
are output.
74
Set
Motor Encoder
Divider
UINT
2
The amount of division used for generating the
encoder output signal. For example, if the Divider is
set to 4, the encoder output frequency will be 1/4
th
the encoder input frequency. This parameter is only
active if Divided is selected as the Encoder Output
Signal.
Range: 1 to 1000
Default: 4
Parameter Object,
Instances ID = 1- 1059
Parameter
Instance
Access
Rule
Parameter
Name
Data
Type
Data Size
(Bytes)
Units /
Scale
Description